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System Development & Application
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1468-1472

Right-turn driving decisions of autonomous vehicles at signal-free intersections

Wang Shuyan
Wan Qingtian
School of Computer Science, Xi'an University of Posts & Telecommunications, Xi'an 710121, China

Abstract

The application of deep reinforcement learning technology for autonomous driving decision has become a research topic at domestic and overseas. The existing research on vehicle traffic flow lacks randomness and authenticity, and the effective exploration of autonomous vehicles in the environment has limitations. Therefore, this paper used the TD3 algorithm to study the right turn driving decision of autonomous vehicles in signal-free intersections. Firstly, it developed the training and testing scenario of signal-free intersection in Carla simulation, and added the traffic flow management function to improve the randomness of system training and testing. Secondly, in order to improve the exploratory of autonomous vehicles, it added OU noise for the target action to improve the Actor network in TD3 algorithm. Finally, it used the success rate and average travel time to evaluate the autonomous driving behavior decisions. The results show that in different traffic flow scenarios, the traffic success rate of the improved TD3 algorithm is 6.2% higher than the DDPG algorithm controlled vehicles, and 23% higher than the rule-based AEB model. The improved TD3 algorithm not only can explore more possibilities, but also has a more prominent performance of prevailing decision.

Foundation Support

陕西省教改重点攻关项目(21BG038)
陕西省重点研发计划项目(2020GY-210)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.08.0420
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 5
Section: System Development & Application
Pages: 1468-1472
Serial Number: 1001-3695(2023)05-028-1468-05

Publish History

[2022-11-08] Accepted Paper
[2023-05-05] Printed Article

Cite This Article

王曙燕, 万顷田. 自动驾驶车辆在无信号交叉口右转驾驶决策技术研究 [J]. 计算机应用研究, 2023, 40 (5): 1468-1472. (Wang Shuyan, Wan Qingtian. Right-turn driving decisions of autonomous vehicles at signal-free intersections [J]. Application Research of Computers, 2023, 40 (5): 1468-1472. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


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